Wall surface suction traveling device

Abstract

A wall surface suction travel device includes a first travel unit, a second travel unit, a joint mechanism, and an elastic mechanism. The travel units are aligned along a travel direction and are each configured to travel on a wall surface while being suctioned on the wall surface. The joint mechanism couples the travel units together such that the travel units can pivot relative to each other on a pivot axis extending in a direction that is perpendicular to both a wall surface facing direction and the travel direction. The elastic mechanism includes a first end fixed to the first travel unit, a second end fixed to the second travel unit, and an elastic member configured to be elastically deformed when one of the travel units pivots relative to the other travel unit and a distance between the first end and the second end is shortened.

The invention claimed is: 
     
       1. A wall surface suction travel device comprising:
 a first travel unit and a second travel unit that are aligned along a travel direction in which the wall surface suction travel device is configured to travel, each of the first travel unit and the second travel unit being configured to travel on a wall surface while being suctioned on the wall surface; 
 a joint mechanism configured to couple the first travel unit and the second travel unit together so as to enable the first travel unit and the second travel unit to pivot relative to each other on a pivot axis extending in a direction that is perpendicular to both the travel direction and a direction in which the wall surface suction travel device faces the wall surface; and 
 a plurality of elastic mechanisms, each of the plurality of elastic mechanisms including a first end fixed to a side face of the first travel unit, a second end fixed to a side face of the second travel unit, and an elastic member configured to be elastically deformed when one of the first travel unit and the second travel unit pivots relative to another of the first travel unit and the second travel unit and a distance between the first end and the second end is shortened, 
 wherein: 
 a face of the first travel unit and a face of the second travel unit are coupled to each other by the joint mechanism, the face of the first travel unit being different from the side face of the first travel unit and the face of the second travel unit being different from the side face of the second travel unit; 
 the joint mechanism is between the plurality of elastic mechanisms; 
 each of the plurality of elastic mechanisms includes a first rod having the first end, a second rod having the second end, and a holder configured to hold the first rod and the second rod such that the first rod and the second rod are slidable on an identical straight line; 
 in each of the plurality of elastic mechanisms: (i) the elastic member is between the first rod and the second rod; (ii) the first end is fixed to the first travel unit such that the first rod is allowed to pivot; and (iii) the second end is fixed to the second travel unit such that the second rod is allowed to pivot. 
 
     
     
       2. The wall surface suction travel device according to  claim 1 , wherein the joint mechanism is a universal joint. 
     
     
       3. The wall surface suction travel device according to  claim 1 , wherein the first travel unit and the second travel unit have respective crawlers configured to roll on the wall surface. 
     
     
       4. The wall surface suction travel device according to  claim 3 , wherein the first end and the second end of each of the plurality of elastic mechanisms are fixed to outer sides of the respective crawlers. 
     
     
       5. The wall surface suction travel device according to  claim 1 , wherein the first travel unit has a suction device to get the first travel unit to be suctioned on the wall surface and the second travel unit has a suction device to get the second travel unit to be suctioned on the wall surface. 
     
     
       6. The wall surface suction travel device according to  claim 1 , wherein, while a preceding travel unit that is one of the first travel unit and the second travel unit is transferring from the wall surface to another wall surface, the preceding travel unit is configured to travel while being not suctioned owing to suspension of suction and a succeeding travel unit that is another of the first travel unit and the second travel unit is configured to travel while being suctioned. 
     
     
       7. A wall surface suction travel device comprising:
 a first travel unit and a second travel unit that are aligned along a travel direction in which the wall surface suction travel device is configured to travel, each of the first travel unit and the second travel unit being configured to travel on a wall surface while being suctioned on the wall surface; 
 a joint mechanism configured to couple the first travel unit and the second travel unit together so as to enable the first travel unit and the second travel unit to pivot relative to each other on a pivot axis extending in a direction that is perpendicular to both the travel direction and a direction in which the wall surface suction travel device faces the wall surface; and 
 a plurality of elastic mechanisms, each of the plurality of elastic mechanisms including a first end fixed to a side face of the first travel unit, a second end fixed to a side face of the second travel unit, and an elastic member configured to be elastically deformed when one of the first travel unit and the second travel unit pivots relative to another of the first travel unit and the second travel unit and a distance between the first end and the second end is shortened, 
 wherein: 
 a face of the first travel unit and a face of the second travel unit are coupled to each other by the joint mechanism, the face of the first travel unit being different from the side face of the first travel unit and the face of the second travel unit being different from the side face of the second travel unit; 
 the joint mechanism is between the plurality of elastic mechanisms; 
 the first travel unit and the second travel unit have respective crawlers configured to roll on the wall surface; and 
 the first end and the second end of each of the plurality of elastic mechanisms are fixed to outer sides of the respective crawlers. 
 
     
     
       8. The wall surface suction travel device according to  claim 7 , wherein the joint mechanism is a universal joint. 
     
     
       9. The wall surface suction travel device according to  claim 7 , wherein the first travel unit has a suction device to get the first travel unit to be suctioned on the wall surface and the second travel unit has a suction device to get the second travel unit to be suctioned on the wall surface. 
     
     
       10. The wall surface suction travel device according to  claim 7 , wherein, while a preceding travel unit that is one of the first travel unit and the second travel unit is transferring from the wall surface to another wall surface, the preceding travel unit is configured to travel while being not suctioned owing to suspension of suction and a succeeding travel unit that is another of the first travel unit and the second travel unit is configured to travel while being suctioned.